Surgical Navigation

Abstract

In one aspect, a navigation device includes a plurality of link, wherein adjacent links are rotatably coupled. The navigation device includes a plurality of encoders. A base extends outwardly from a first link of the plurality of links, wherein a first encoder of the plurality of encoders is coupled to the base. A threaded bolt is rotatably coupled to the base, wherein the threaded bolt is configured to rigidly fix the base to an anatomy of a patient. A housing is coupled to a second link of the plurality of links, wherein the housing surrounds a processor, a memory, and a communications module.

What is claimed is: 
     
         1 . A navigation device comprising:
 a plurality of links, wherein adjacent links are rotatably coupled;   a plurality of encoders;   a base extending outwardly from a first link of the plurality of links, wherein a first encoder of the plurality of encoders is coupled to the base;   a threaded bolt rotatably coupled to the base, wherein the threaded bolt is configured to rigidly fix the base to an anatomy of a patient;   a housing coupled to a second link of the plurality of links, wherein the housing surrounds a processor, a memory, and a communications module.   
     
     
         2 . The navigation device of  claim 1 , wherein a third link of the plurality of links is rotatably coupled to the second link and to a third link of the plurality of links, wherein a fourth link of the plurality of links is rotatably coupled to the third link, wherein an effector extends from the fourth link, wherein a bore is disposed through the effector, wherein the bore is configured to receive an external ventricular drain. 
     
     
         3 . The navigation device of  claim 2 , further comprising a probe supported by the effector. 
     
     
         4 . The navigation device of  claim 3 , wherein the probe comprises a ball plunger switch. 
     
     
         5 . The navigation device of  claim 4 , wherein each encoder of the plurality of encoders is in communication with the processor, and the ball plunger switch of the probe is in communication with the processor. 
     
     
         6 . The navigation device  claim 5 , wherein the communications module is configured to transmit data collected by the plurality of encoders and the ball plunger switch to an app on a computing device. 
     
     
         7 . The navigation device of  claim 1 , wherein the plurality of links are rotatably coupled to provide four degrees of freedom of motion about the threaded bolt. 
     
     
         8 . A navigation device comprising:
 a first link rotatably coupled to a second link at a first joint;   a third link rotatably coupled to the second link at a second joint;   a fourth link rotatably coupled to the third link at a third joint;   a first encoder coupled to the first joint;   a second encoder coupled to the second joint;   a third encoder coupled to the third joint;   a base extending from the first link;   a fourth encoder coupled to the base;   a threaded bolt rotatably coupled to the base, wherein the threaded bolt is configured to rigidly fix the base to an anatomy of a patient;   a housing coupled to a second link, wherein the housing surrounds a processor, a memory, and a communications module.   
     
     
         9 . The navigation device of  claim 8 , further comprising an effector extending from the fourth link, wherein a bore is disposed through the effector, wherein the bore is configured to receive an external ventricular drain. 
     
     
         10 . The navigation device of  claim 9 , further comprising a probe supported by the effector. 
     
     
         11 . The navigation device of  claim 10 , wherein the probe comprises a ball plunger switch. 
     
     
         12 . The navigation device of  claim 11 , wherein the first encoder, the second encoder, the third encoder, and the fourth encoder are in communication with the processor, and the ball plunger switch of the probe is in communication with the processor. 
     
     
         13 . The navigation device of  claim 12 , wherein the communications module is configured to transmit data collected by the first encoder, the second encoder, the third encoder, the fourth encoder, and the ball plunger switch to an app on a computing device. 
     
     
         14 . The navigation device of  claim 8 , wherein the first link is rotatably coupled to the second link, the third link is rotatably coupled to the second link, and the fourth link is rotatably coupled to the third link to collectively provide four degrees of freedom of motion about the threaded bolt. 
     
     
         15 . A method of surgical navigation, the method comprising:
 receiving a scan of preoperative medical imaging of a patient;   receiving, from a navigation device, location data collected by a ball plunger switch;   receiving, from a navigation device, position data collected by a plurality of encoders of the navigation device;   generating a point cloud representation based on the location data and the position data received;   mapping the point cloud to the scan of the preoperative medical imaging of the patient;   displaying a 3D visualization of the navigation device; and   verifying registration of the navigation device based on determining that a comparison of the point cloud and physical position of the navigation device matches the 3D visualization of the navigation device.   
     
     
         16 . The method of  claim 15 , wherein receiving the location data collected by the ball plunger switch further comprises receiving the location data when the plunger switch is depressed at a brow, a nasion, and a tip of a nose of the patient. 
     
     
         17 . The method of  claim 16 , further comprising registering the location data and the position data received via point cloud to point cloud iterative closet point. 
     
     
         18 . The method of  claim 16 , further comprising registering the location data and the position data received via point cloud to surface iterative closet point. 
     
     
         19 . The method of  claim 15 , wherein receiving the location data collected by the ball plunger switch further comprises receiving the location data when the plunger switch is depressed at a fiducial marker placed on the patient. 
     
     
         20 . The method of  claim 19 , wherein the plunger switch is depressed at the fiducial marker in a predetermined order.